CN220534229U - Photovoltaic power generation field dispatch robot - Google Patents

Abstract

The present disclosure provides a photovoltaic farm dispatch robot, comprising: a driving device configured to drive the dispatch robot to travel within a lane of a photovoltaic power generation field; a loading device configured for loading or unloading the photovoltaic cleaning robot within the photovoltaic power farm; a sensor configured to sense a state of the dispatch robot; the transceiver is used for transmitting the perceived state of the dispatching robot to a main server of a photovoltaic power generation field and/or a photovoltaic cleaning robot; a controller configured to initiate communication related to the dispatch robot between the main server and the photovoltaic cleaning robot in response to sensing of a state of the dispatch robot, the sensor of the dispatch robot detecting the photovoltaic cleaning robot before communication is initiated; and is configured to remotely control the scheduling robot in response to a command based on the perceived state of the scheduling robot and the communication between the main server and the photovoltaic cleaning robot.

Description

Photovoltaic power generation field dispatch robot

Technical Field

The present disclosure relates to a photovoltaic farm dispatch robot.

Background

Cleaning of photovoltaic panels is critical to the performance and efficiency of solar energy systems. Over time, the solar panel surface can accumulate dust, dirt, and other contaminants that can reduce the absorptive capacity and conversion efficiency of the photovoltaic cells. Therefore, periodic cleaning is critical to maintaining efficient operation of the solar energy system.

However, conventional cleaning methods tend to be time consuming, laborious and inefficient. To solve this problem, a photovoltaic cleaning robot system has been developed. A photovoltaic cleaning robot system is an autonomous mobile robot system specifically designed for wet cleaning on a photovoltaic panel. The system combines advanced robotics, sensor technology and communication technology to be able to intelligently sense environmental conditions and perform cleaning tasks. However, to achieve the scale effect, it is a problem to be solved how to arrange to implement at least one photovoltaic cleaning robot, and how to coordinate the problems of handling, transporting, and maintenance in the photovoltaic power generation field between multiple photovoltaic cleaning robots, so as to implement the scale and intelligent operation. At present, most dispatching robots are controlled by a main controller, the flexibility of processing burst time is poor, and the control method has become one main factor affecting the operation efficiency and large-scale application of the photovoltaic cleaning robot.

Disclosure of Invention

To solve one of the above technical problems, the present disclosure provides a photovoltaic farm dispatch robot.

According to one aspect of the present disclosure, there is provided a photovoltaic farm dispatch robot comprising:

a driving device configured to drive the dispatch robot to travel within a lane of a photovoltaic power generation field;

a loading device configured for loading or unloading the photovoltaic cleaning robot within the photovoltaic power farm;

a sensor configured to sense a state of the dispatch robot;

the transceiver is used for transmitting the perceived state of the dispatching robot to a main server of a photovoltaic power generation field and/or a photovoltaic cleaning robot;

a controller configured to initiate communication related to the dispatch robot between the main server and the photovoltaic cleaning robot in response to sensing of a state of the dispatch robot, the sensor of the dispatch robot detecting the photovoltaic cleaning robot before communication is initiated; and is configured to remotely control the scheduling robot in response to a command based on the perceived state of the scheduling robot and the communication between the main server and the photovoltaic cleaning robot.

In accordance with at least one embodiment of the present disclosure, the controller further comprises an interface configured to receive an input to initiate communication by the controller.

According to at least one embodiment of the present disclosure, the controller is configured to be controllably operable by the photovoltaic cleaning robot.

According to at least one embodiment of the present disclosure, the sensor includes a travel state sensor located inside the dispatch robot configured to sense a travel state of the dispatch robot.

According to at least one embodiment of the present disclosure, the exercise state includes an automatic driving state and a manual manipulation state.

According to at least one embodiment of the present disclosure, the sensor includes an environment sensor located outside the dispatch robot configured to sense an external environment in which the dispatch robot is located.

According to at least one embodiment of the present disclosure, the sensor includes a position sensor configured to receive position information of other entities external to the dispatch robot.

According to at least one embodiment of the present disclosure, the other entities include at least one of a photovoltaic cleaning robot, a photovoltaic panel, an operator, and other dispatch robots.

According to at least one embodiment of the present disclosure, the external location information includes a photovoltaic cleaning robot base station location and a photovoltaic cleaning robot handling location on a photovoltaic panel.

According to at least one embodiment of the present disclosure, the controller is further configured to simultaneously maintain communication between the dispatch robot and the main server and the photovoltaic cleaning robot.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1A illustrates an external structural schematic view of a photovoltaic farm dispatch robot according to one embodiment of the present disclosure.

Fig. 1B is a schematic diagram of a control structure of a dispatch robot according to one embodiment of the present disclosure.

FIG. 2 is a schematic diagram of a photovoltaic farm communication system.

Fig. 3 is a schematic block diagram of computer logic of a photovoltaic farm main server according to one embodiment of the present disclosure.

Fig. 4 is a computer logic block schematic diagram of a photovoltaic cleaning robot according to one embodiment of the present disclosure.

Detailed Description

The present disclosure is described in further detail below with reference to the drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant content and not limiting of the present disclosure. It should be further noted that, for convenience of description, only a portion relevant to the present disclosure is shown in the drawings.

In addition, embodiments of the present disclosure and features of the embodiments may be combined with each other without conflict. The technical aspects of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the exemplary implementations/embodiments shown are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Thus, unless otherwise indicated, features of the various implementations/embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concepts of the present disclosure.

The use of cross-hatching and/or shading in the drawings is typically used to clarify the boundaries between adjacent components. As such, the presence or absence of cross-hatching or shading does not convey or represent any preference or requirement for a particular material, material property, dimension, proportion, commonality between illustrated components, and/or any other characteristic, attribute, property, etc. of a component, unless indicated. In addition, in the drawings, the size and relative sizes of elements may be exaggerated for clarity and/or descriptive purposes. While the exemplary embodiments may be variously implemented, the specific process sequences may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in reverse order from that described. Moreover, like reference numerals designate like parts.

When an element is referred to as being "on" or "over", "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to," or "directly coupled to" another element, there are no intervening elements present. For this reason, the term "connected" may refer to physical connections, electrical connections, and the like, with or without intermediate components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "under … …," under … …, "" under … …, "" lower, "" above … …, "" upper, "" above … …, "" higher "and" side (e.g., as in "sidewall"), etc., to describe one component's relationship to another (other) component as illustrated in the figures. In addition to the orientations depicted in the drawings, the spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture. For example, if the device in the figures is turned over, elements described as "under" or "beneath" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "below" … … can encompass both an orientation of "above" and "below". Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising," and variations thereof, are used in the present specification, the presence of stated features, integers, steps, operations, elements, components, and/or groups thereof is described, but the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximation terms and not as degree terms, and as such, are used to explain the inherent deviations of measured, calculated, and/or provided values that would be recognized by one of ordinary skill in the art.

Fig. 1A shows a schematic diagram of a photovoltaic farm dispatch robot according to one embodiment of the present disclosure. The photovoltaic farm dispatch robot 10 includes a drive device 110: this is the main moving component of the dispatch robot. It consists of a set of specially designed motors and track drive systems to ensure reliable operation under a variety of road conditions. The crawler design has the advantage that it can provide a larger contact area, thereby improving the stability and the maneuverability of the robot on different terrains, such as sand, mud or hillside. The motor is selected and the driving system is designed according to the expected load and the running environment of the robot, so that the robot can effectively run on any working condition, whether on a smooth road or on a rugged ground; loading device 120: this is another important part of the dispatch robot, mainly for carrying and transporting the photovoltaic cleaning robot. The loading device comprises a lifting table and a storage box. The lifting platform is mainly used for lifting and lowering the cleaning robot, and the design of the lifting platform needs to consider the safety and stability so as to ensure the safety of the cleaning robot in the lifting process. The drive system of the lifting platform can adopt hydraulic, mechanical gears or electric motors, and specific selection needs to consider the requirements of lifting force, precision, speed and the like. The storage box is used for accommodating and storing the photovoltaic cleaning robot, and requires a sufficient space inside to accommodate the robot, and a proper fixture to prevent the robot from shaking or sliding during transportation. The storage box should be designed in consideration of weather resistance, dust resistance, and abrasion resistance to ensure that the inside robot is protected even under severe working environments.

The driving device 110 and the loading device 120 ensure the basic functions of the dispatching robot of the photovoltaic power generation field, the intelligent of the dispatching robot is ensured, corresponding sensors and controllers are required to be configured, the interaction between the dispatching robot and the surrounding environment and the interaction between the dispatching robot and the entities are ensured through proper communication logic, and the improvement of the functionality of the dispatching robot are ensured.

As shown in fig. 1B, dispatch robot 10 includes a controller 101, front sensors 102 and 103, rear sensors 104 and 105, a communication device 106, a navigation device 107, a GPS device 108, a data storage device 109, an omnidirectional sensor 110, a display 111, a user input interface (not shown), and any other type of device commonly found in dispatch robots 10 as understood in the art, in accordance with one embodiment of the present disclosure. Although only two front sensors 102 and 103, two rear sensors 104 and 105, and one omni-directional sensor 110 are shown for exemplary purposes, dispatch robot 10 may include any suitable number of these components.

The data storage device 109 may be any suitable type of memory or storage device in which data may be stored or from which data may be retrieved. The display 111 may be any suitable type of display screen, such as a liquid crystal screen, a touch panel, a flat panel display, or the like. The user input interface may be, for example, a touch pad on a display, a gesture sensing device, mechanical or virtual buttons on a remote manipulation device, or any other suitable location within or external to dispatch robot 10 discussed herein, and so forth. In one embodiment, the user input interface may also be a separate device, such as a smart phone, tablet, notebook, or any other suitable device type, which may communicate with the controller 101 via, for example, the communication device 106 or in any other suitable manner. The omni-directional sensor 110 may comprise any suitable device as understood in the art, such as a solid state lidar sensor.

The controller 101 includes a processor, such as a microcomputer, with a control program that controls the dispatch robot 10 as discussed herein. The processor may be part of a microcomputer. The controller 101 may also include other conventional components such as input interface circuitry, output interface circuitry, and storage devices such as ROM (read only memory) devices and RAM (random access memory) devices. The internal RAM of the controller 101 may store the state of the operation flag, various control data, etc., and the internal ROM of the controller 101 may store a control program and any of various operations understood in the art. Controller 101 is operatively coupled to and programmed to monitor and control front sensors 102 and 103, rear sensors 104 and 105, communication device 106, navigation device 107, GPS device 108, data storage device 109, display 111, user input interface, omnidirectional sensor 110, and other types of devices on dispatch robot 10 in any suitable manner as understood in the art. The data storage device 109 may also store processing results and control programs executed by the controller 101, such as the front sensors 102 and 103, the rear sensors 104 and 105, the communication device 106, the navigation device 107, the GPS device 108, the display 111, the user input interface, the processing results and control programs of the omnidirectional sensor 110, and any other suitable information. The storage device 205 may also store information received from another dispatch robot, a host server, and/or a photovoltaic cleaning robot and any other entity discussed herein.

As understood in the art, the sensors 102, 103, 104, and 105 are configured to monitor and sense the environment surrounding the dispatch robot 10 and detect objects in the vicinity of the dispatch robot 10. The sensors 102, 103, 104, and 105 may be externally installed on the front and rear of the dispatch robot 10. However, the sensors 102, 103, 104, and 105 may be mounted on any suitable external portion of the dispatch robot 10, including front and rear bumpers or any suitable combination of areas. The sensors 102, 103, 104, and 105 communicate with the controller 101, which is then able to control the dispatch robot 10 and perform the operations discussed herein using the information provided by the sensors 102, 103, 104, and 105.

The sensors 102, 103, 104, and 105 may be any desired sensor type. For example, the front sensors 102 and 103 may include long range radar devices for scheduling object detection in front of the robot 10. The front sensors 102 and 103 may be configured to detect objects at a predetermined distance (e.g., distances up to 50 meters or more, as desired), and may have any practical field of view as understood in the art. The front sensors 102 and 103 may also include short range radar devices, typically with a large field angle, to assist in monitoring the area in front of the dispatch robot 10. The rear sensors 104 and 105 may also include short range radar devices, and long range radar devices, if desired. Further, the sensors 102, 103, 104, and 105 may include cameras, radar sensors, photo sensors, ultrasonic sensors, or any combination and number of these devices as understood in the art.

Further, the sensors 102, 103, 104, and 105 may be configured to detect at least speed, direction, yaw, acceleration, and distance of the dispatch robot 10. In addition, the sensors 102, 103, 104, and 105 may include other types of object positioning sensing devices, including ranging sensors, such as radar, sonar, and light detection and ranging devices, radio frequency identification sensors, and ultrasonic devices to position a forward object. The object positioning device may include a charge coupled device or a complementary metal oxide semiconductor video image sensor, as well as other known camera/video image processors that utilize digital photography methods to view a front object including one or more other robots.

The sensors 102, 103, 104 and 105 may also monitor other dispatch robots in front of, beside and behind the dispatch robot 10. The controller 101 may also use the sensors 102, 103, 104, and 105 to monitor traffic flow to maintain the lane position clear or to maintain a lane for the dispatch robot 10. The controller 101 may further determine whether the remote object detected by the sensors 102, 103, 104, and 105 is an operator or other robot, and the main server 20 may also determine the other robot number and the operator number based on the information received from the sensors 102, 103, 104, and 105.

Communication device 106 includes, for example, a receiver and a transmitter configured as separate components or as a transceiver, as well as any other type of device for wireless communication. For example, the communication device 106 is configured to communicate wirelessly over one or more communication paths. Examples of communication paths include cellular telephone networks, wireless networks, dedicated short-range communication networks, power line communication networks, and the like. The communication device 106 is configured to receive information from an external source and transmit such information to the controller 101. For example, the communication device 106 may communicate with the primary server 20 through, for example, the communication network 40, direct communication, or in any suitable manner as understood in the art. The communication device 106 may also communicate with another dispatch robot 10, one or more photovoltaic cleaning robots 30, or any other suitable entity (e.g., a transmitter disposed on a photovoltaic panel) through, for example, the communication network 40, direct communication, or in any suitable manner as understood in the art.

The navigation device 107 is configured to receive information about the proposed driving route of the dispatch robot 10, for example, from the controller 101. The suggested driving route may be determined based on information received by the controller 101 from, for example, a mobile application connected to the dispatch robot 10, or based on a driving mode of the dispatch robot 10 determined using any method, device, or system described herein or known in the art. The navigation device 107 may also communicate with the GPS device 108 to determine the suggested driving route. The controller 101 may use information received from the navigation device 107 and the GPS device 108 to control the maneuver of the robot 10, as is understood in the art. The navigation device 107 may also communicate with, for example, the main server 20 and the photovoltaic cleaning robot 30 using the communication device 106, directly or in any other suitable manner.

Fig. 3 illustrates one example of a photovoltaic farm communication system 100 according to one disclosed embodiment. The photovoltaic farm comprises one or more dispatch robots 10, one or more photovoltaic cleaning robots 30, and at least one main server 20, which may communicate with each other using communication links as understood in the art, for example, through a communication network 40. The dispatch robot 10 is used to dispatch and load and unload the photovoltaic cleaning robot 30 in a photovoltaic power generation field. The photovoltaic farm communication system 100 further enables communication between the main server 20 and at least one photovoltaic cleaning robot 30, which will be described in more detail below. Of course, the photovoltaic farm communication system 100 may also enable communication between the dispatch robot 10 and the photovoltaic cleaning robot 30, as described below. The photovoltaic cleaning robot 30 may communicate with the main server 20 directly, for example, through a communication network 40, or in any suitable manner as understood in the art. The photovoltaic cleaning robot 30 may also communicate with the dispatch robot 10 via, for example, a communication network 40, either directly or in any suitable manner as understood in the art.

As understood in the art, the main server 20 may be a computer entity capable of functioning as other robot manager to remotely operate and control various types of robots within a photovoltaic power farm. As shown in fig. 3, the main server 20 includes a control device 201, a display device 202, a user interface 203, a communication device 204, and a storage device 205. The control device includes a processor, for example, a microcomputer, whose control program controls the components of the main server 20, and controls the dispatch robot 10 when the remote operation control of the dispatch robot 10 is performed. The processor may be part of a microcomputer. The control device may also include other conventional components such as input interface circuitry, output interface circuitry, and storage devices such as read-only memory devices and random access memory devices. The internal random access memory of the control device may store the state of the operation flags, various control data, etc., while the internal read only memory device of the control device may store control programs and any of various operations as understood in the art.

The control device controls the display device 202 to display information related to the operation of the main server 20, information related to the dispatch robot 10, information received from the photovoltaic cleaning robot 30, and any other suitable information as understood in the art. The display device 202 may be, for example, an LCD display, a touch pad, a flat panel display, or any other suitable display type known in the art. The user interface 203 may be, for example, a touch pad on the display device 202, a gesture sensing device, mechanical or virtual buttons, and so forth, as is understood in the art. The user interface 203 may also be a separate device, such as a smart phone, tablet, notebook, or any other suitable device type, which may communicate with the control device via, for example, the communication device 204 or in any other suitable manner.

Communication device 204 includes, for example, a receiver and a transmitter configured as separate components or as a transceiver, as well as any other type of device for wireless communication. For example, the communication device 204 is configured to wirelessly communicate with the dispatch robot 10, other host servers 20, the photovoltaic cleaning robot 30, other types of content or service providers, and any other type of suitable entity discussed herein, such as receiving climate forecast information, including text, sounds, images, and the like, via one or more communication paths. Examples of communication paths include cellular telephone networks, wireless networks, dedicated short-range communication networks, power line communication networks, and the like. The communication device 106 may communicate with the dispatch robot 10 through, for example, the communication network 40 or in any suitable manner as understood in the art. The communication device 204 may also communicate with the photovoltaic cleaning robot 30, another host server 20, or any other suitable entity, for example, through the communication network 40 or in any suitable manner as understood in the art.

The storage device 205 may be any suitable type of memory or storage into which data may be stored and from which data may be retrieved. The storage device 205 may store processing results and control programs executed by the control device, such as processing results and control programs for the display device 202, the user interface 203, and the communication device 204, as well as any other suitable information. The photovoltaic cleaning robot 30 may be capable of communicating with the main server 20 to provide the main server 20 with, for example, the dispatch robot 10, the environment or conditions surrounding the dispatch robot 10 or related to the dispatch robot 10, the status of the drive devices of the dispatch robot 10, and the like.

The photovoltaic cleaning robot 30 is configured to perform running inspection on a photovoltaic panel surface of a photovoltaic power generation field and clean the surface of the photovoltaic panel. As shown in fig. 4, the design of the photovoltaic cleaning robot 30 includes a plurality of key modules, such as a cleaning module 301, a sensor module 302, a driving module 303, a control module 304, a memory module 305, and a processor module 306, which are electrically connected to each other and are connected to the main server 20 of the photovoltaic power generation field through a network interface. The cleaning module 301 is a core component in the system of the photovoltaic cleaning robot 30, and is mainly used for wet cleaning, and generally comprises a water spraying device and a rolling brush matched with water spraying. The wet cleaning method can effectively remove dirt and dust on the surface of the photovoltaic panel 200 and improve the cleaning effect of the panel.

The sensor module 302 is then the key part of the robot that perceives the position, shape and edges of the photovoltaic panel 200. This system typically includes sensors such as infrared sensors, cameras, or laser scanners that can acquire panel information in real time. By perceiving the shape and edges of the panel, the robot is able to plan the path of movement to accommodate different shapes and sizes of photovoltaic panels 200. The preset path may also be used to guide the movement of the robot.

The drive module 303 is a critical part of the robotic system, which is responsible for driving the robot to move freely across the surface of the photovoltaic panel 200. These modules typically employ a wheeled or tracked drive system to provide the ability for the robot to move over the inclined surface of the photovoltaic cell 200. The drive module 303 has precise control capability to ensure that the robot remains stable and balanced during cleaning.

The control module 304 is the core of the photovoltaic cleaning robot 30 system and is responsible for managing and monitoring the operation of the robot. It receives and processes the perception data of the robot, plans the path, and controls the driving module 303 and the cleaning module 301 to take corresponding decisions, etc. The control module 304 can also provide real-time monitoring and reporting functions to the main server 20 of the photovoltaic power generation field, ensuring that the running condition and cleaning effect of the robot are monitored in time.

The memory module 305 can store various data and instructions including, but not limited to, routine instructions, sensor data, rainfall levels, updated navigation decisions, updated cleaning decisions, map data, and the like. The routine instructions are a special code that, when executed by the processor module 306 of the photovoltaic cleaning robot 30, directs the photovoltaic cleaning robot to perform the functions described herein.

The one or more processor modules 306 are configured to implement various instructions. The processor module 306 may be a programmable logic device, a microcontroller, a microprocessor module 306, or any suitable combination. The processor module 306 may be communicatively coupled to the network interface, the user interface, and the memory module 305 and in signal communication. The one or more processor modules 306 are configured to process data and may be implemented in hardware or software. The processor module 306 may include an arithmetic logic unit for performing arithmetic and logic operations, a processor module 306 register that provides operands to the arithmetic logic unit and stores the results of the arithmetic logic unit operations, and a control unit that fetches instructions from memory and executes the instructions by directing coordinated operation of the arithmetic logic unit, registers, and other components. The network interface may be configured to enable wired and/or wireless communications. The network interface may be configured to communicate data between the photovoltaic cleaning robot 30 and other devices, systems, or domains. The processor module 306 may be configured to send and receive data using a network interface.

An example of the operations performed by the photovoltaic farm communication system 100 to initiate communication between the main server 20 and the photovoltaic cleaning robot 30 in connection with the dispatch robot 10 will now be described. As mentioned above, in some remote operation situations, it may become desirable or necessary for the main server 20 to communicate with another entity, for example, to obtain additional information for assisting in the operation of the dispatch robot 10. Thus, it may be beneficial to automatically initiate such communication between the main server 20 and the photovoltaic cleaning robot 30.

The communication may be initiated by one or more initiation methods and decision algorithms, which may be executed by the controller 101 of the dispatch robot 10 alone or in cooperation with the control device of the main server 20 discussed above, for example. The startup mode and startup mode portion of the decision algorithm may receive information from a combination of the host server 20 and sensors, such as sensors 102, 103, 104, and 105 at the dispatch robot 10 discussed above. The initiation means and the decision algorithm portion of the decision algorithm determine whether the initiation means has received appropriate information and if such information has been received, the decision algorithm may establish communication between the main server 20 and the photovoltaic cleaning robot 30 using any suitable type of interaction means as described herein. The control device 201 at the main server 20, alone or in combination with the controller 101 at the scheduling robot 10 or with the control module 304 of the photovoltaic cleaning robot 30, performs decision making operations that provide the required assistance to the photovoltaic farm.

In one embodiment below, an example of an environmental situation perceived by the dispatch robot 10 and communicated to the host server 20 that may result in an initiation in communication between the host server 20 and the photovoltaic cleaning robot 30 is illustrated. If none of the plurality of dispatch robots 10 is able to take over the role of control at any time, then the master server 20 may need to exert control over the dispatch robots 10 through remote operations as understood in the art. For example, certain types of dispatch robots 10 are capable of achieving fully autonomous driving, i.e., where there is no operator control in the dispatch robot 10. However, even the dispatch robot 10 having an operator present may encounter special situations, and it may be appropriate for the main server 20 to exert control over the dispatch robot 10 by remote operation.

For example, in one particular embodiment, with a dispatch robot 10 operated by an operator, the operator may lose control of the dispatch robot 10 and not be able to concentrate on maneuvering the dispatch robot 10. In the photovoltaic farm communication system 100, the primary server 20 may monitor the condition of the dispatch robot 10 by receiving information from, for example, the sensors 102, 103, 104, and 105 of the dispatch robot 10, which is communicated to the primary server 20 by, for example, the communication device 106 of the dispatch robot 10 and received by the communication device 204 of the primary server 20. As described above, the control device of the main server 20 may analyze the information received from the sensors 102, 103, 104, and 105 and provide the information to the operator at the main server 20 through the display device 202 of the main server 20. If an operator at the main server 20 determines from this information that it may be appropriate to control the dispatch robot 10, the main server 20 may perform such control by, for example, specifying a travel path for the dispatch robot 10.

However, an operator at the main server 20 may wish or need additional information to properly remotely control the dispatch robot 10. For example, if the information provided by the sensors 102, 103, 104, and 105 is insufficient for an operator at the main server 20 to specify a new travel path, the operator at the main server 20 may find it beneficial to communicate with the photovoltaic cleaning robot 30 in the vicinity of the dispatch robot 10, which photovoltaic cleaning robot 30 may have more information about the environment in which the dispatch robot 10 is located.

For example, sensors 102, 103, 104, and 105 may determine that an autonomous vehicle is traveling in an area where construction or an operator is present. Thus, certain lines of sight or routes may be blocked or obstructed. Also, the sensors 102, 103, 104, and 105 may determine that the dispatch robot 10 is traveling in an area where the photovoltaic cleaning robot is being transported or handled, and thus some routes may be congested. In addition, sensors 102, 103, 104, and 105 may determine that dispatch robot 10 is traveling behind other dispatch robots or operators, and therefore may need to stop more frequently. The sensors 102, 103, 104, and 105 may determine that another emergency dispatch robot 10 is approaching the dispatch robot 10, and therefore, the dispatch robot 10 may be necessary to stop on one side or otherwise create a pathway for the emergency dispatch robot. The sensors 102, 103, 104 and 105 may determine that there is a detour along the route traveled by the dispatch robot 10 and, therefore, the travel route of the dispatch robot 10 will need to be rerouted to a shortcut. Also, the sensors 102, 103, 104, and 105 may determine that there is an obstacle or depression on the path traveled by the dispatch robot 10, and thus, a different travel path will need to be formulated for the dispatch robot 10. In addition, sensors 102, 103, 104, and 105 may determine that dispatch robot 10 is experiencing a mechanical or other problem that would require assistance. For some of the cases mentioned above, the operator at the main server 20 may find it desirable to obtain more information, requiring additional assistance. Thus, an operator at the primary server 20 may initiate communication with the photovoltaic cleaning robot 30 from the primary server 20, as discussed herein. In addition, for some of the cases mentioned above, the controller 101 at the dispatch robot 10 may communicate with the host server 20 to cause the host server 20 to initiate communication between the host server 20 and other robots. For example, if it is determined that the driving device of the dispatch robot 10 is malfunctioning, the controller 101 may communicate with the main server 20 to cause the main server 20 to start an operation and maintenance robot, e.g., autonomously moving, for identifying and hauling the dispatch robot. In general, communications may be initiated at dispatch robot 10 based on information obtained from sensors 102, 103, 104, and 105, which may include cameras, lidar devices, RFID sensors, and the like. The communication may also typically be initiated at the dispatch robot 10 to perform a communication or a specific request, such as a request to obtain information about a specific area. Further, if the dispatch robot 10 is used as a handling device for a photovoltaic cleaning robot, when the dispatch robot 10 enters the photovoltaic cleaning robot unloading zone, communication may be initiated at the dispatch robot 10 so that the main server 20 may adjust the photovoltaic panel angle and height to assist the dispatch robot 10 in handling the photovoltaic cleaning robot 30 on the photovoltaic panel. When the dispatch robot 10 enters a set photovoltaic cleaning robot 30 unloading zone, it may initiate a wireless communication connection with the photovoltaic cleaning robot 30. The communication link during this time is bi-directional and multi-channel, and can either transmit information such as real-time location, status, and task progress, or receive status information of the photovoltaic cleaning robot 30 and control signals and instructions of the main server 20.

The main server 20 can adjust the angle and height of the photovoltaic panel immediately after receiving a communication signal to schedule the robot 10 to enter the unloading zone. This adjustment is based on a preset algorithm to determine the optimal photovoltaic panel angle and height, enabling the dispatch robot 10 to more safely and efficiently load and unload the photovoltaic cleaning robot 30 on the photovoltaic panel.

The host server 20 may use machine learning or other artificial intelligence algorithms to make these calculations in order to adjust the angle and altitude of the photovoltaic panels in real time under varying environmental conditions (e.g., sun angle, wind speed, etc.). At the same time, the main server 20 also transmits a loading and unloading instruction to the dispatch robot 10. These instructions may include how to contact the photovoltaic cleaning robot 30, how to move or rotate to properly install or uninstall the photovoltaic cleaning robot 30 on the photovoltaic panel, how to confirm whether the photovoltaic cleaning robot 30 has been properly installed or uninstalled, and the like.

In this way, the cooperative work among the scheduling robot 10, the main server 20, and the photovoltaic cleaning robot 30 can ensure that the production and maintenance work of the photovoltaic panel is efficiently and safely performed.

Further, for some of the above-mentioned cases, the photovoltaic cleaning robot 30 may wish to interact with the main server 20, and thus, the photovoltaic cleaning robot 30 may initiate communication between the photovoltaic cleaning robot 30 and the main server 20. Passive and active communication links may exist between the primary server 20 and some entities in the environment. Whether the communication link is active or passive depends on, for example, whether the photovoltaic cleaning robot 30 is in communication with the main server 20. For example, even though the main server 20 may be specifying a new path for the dispatch robot 10, while the photovoltaic cleaning robot 30 (malfunction or power exhaustion) may require the main server 20 to specify a different path for the dispatch robot 10. The photovoltaic cleaning robot 30 may request the main server 20 to control the dispatch robot 10 to open one compartment, i.e., to store a photovoltaic cleaning robot storage box on the dispatch robot 10 so that the photovoltaic cleaning robot 30 may be placed in the storage box of the dispatch robot 10.

It should further be noted that in some cases, an operator of the photovoltaic power plant may initiate communication between the photovoltaic cleaning robot 30 and the dispatch robot 10 and the main server 20. For example, as described above, dispatch robot 10 may include an externally located device having at least one display screen that may also operate as a touch pad. When the operator of the photovoltaic power plant enters the correct password into the screen, the controller 101 may send a request to the main server 20 via, for example, the communication device 106. Upon receipt of the request, the control device of the main server 20 may automatically connect the main server 20 with the photovoltaic cleaning robot 30 using any of the manners discussed above. The main server 20 and the photovoltaic cleaning robot 30 can thus communicate with each other.

In the following embodiments, an example of operations performed by the photovoltaic farm communication system 100 to initiate communication between the main server 20 and the photovoltaic cleaning robot 30 in some cases is described. In these cases, the type of communication initiation may be generally referred to as self-initiation.

In one embodiment, the photovoltaic farm communication system 100 performs operations that initiate communication between the host server 20 and the dispatch robot 10 in the event of an emergency associated with the dispatch robot 10. The dispatch robot 10 is in emergency during operation. For example, controller 101 may determine this condition based on information provided by sensors 102, 103, 104, and 105, omni-directional sensor 110, and other sensor means as understood in the art. Thus, in step 102, the controller 101 may control the dispatch robot 10 to a safe stop position. When the controller 101 is stopping scheduling the robot 10, the controller 101 may automatically notify the main server 20 of the emergency in step 104. Also, the main server 20 may call the operation and maintenance robot or the operator to a designated location and then continue to perform other tasks.

The operation and maintenance robot arrives at the dispatch robot 10 location and needs to investigate the dispatch robot 10. Thus, any operation and maintenance robot can initiate communication with the main server 20. For example, dispatch robot 10 may detect the arrival of an operation and maintenance robot using any of the sensors and techniques described above, and controller 101 may also send a request to host server 20 to initiate communication between host server 20 and the operation and maintenance robot. Alternatively, the operation and maintenance robot may be proximate to dispatch robot 10 and sensors 102, 103, 104, and 105 and/or omni-directional sensor 110 may detect the operation and maintenance robot. Thereafter, the controller 101 may send a request to the main server 20 to initiate communication between the main server 20 and the operation and maintenance robot. Of course, the operator may also initiate communication with the main server 20 using the communication device. The main server 20 and the operation and maintenance robot or operator communicate with each other using, for example, video or any of the means described above. Thus, the master server 20 may remotely operatively observe and control the dispatch robot 10, e.g., unlock its intended work plan, actively or passively move onto the operation and maintenance robot, and so forth.

In one embodiment, the dispatch robot 10 initiates communication in the event of traveling in a road construction area, such as a photovoltaic power generation field, or any other obstructed area. Dispatch robot 10 approaches the job site and controller 101 stops dispatch robot 10 when, for example, sensors 102, 103, 104, and 105 sense the presence of the job site. The controller 101 of the dispatch robot 10 recognizes that information from an operator at a construction site is required. The main server 20 determines that the dispatch robot 10 needs to be directed.

Accordingly, the controller 101 may send a request to the main server 20 to initiate communication between the main server 20 and the photovoltaic cleaning robot 30. The photovoltaic cleaning robot 30 may operate on photovoltaic panels in a road construction zone, which may assist the host server 20 in maneuvering the dispatch robot 10 through the construction zone by, for example, collecting visual information on a higher level. Further, in step 208, the constructor may perform operations at the autonomous vehicle 14 as described above to initiate communication with the main server 20. For example, a visual recognition program in dispatch robot 10 recognizes from a constructor gesture to cause controller 101 to send a request to host server 20 to initiate communication with the constructor. Of course, the constructor may also initiate communication with the main server 20 using the communication device.

Accordingly, the main server 20 and the constructor communicate with each other using, for example, video or any of the modes described above. Thus, the main server 20 may remotely operatively control the dispatch robot 10, for example, to move along a path suggested by the constructor in step 212.

In one embodiment, communication between the main server 20 and the base station of the photovoltaic cleaning robot is initiated in case of delivering a plurality of photovoltaic cleaning robots 30 to the dispatch robot 10. The base station of the photovoltaic cleaning robot is dispatching the robot 10 to load a plurality of photovoltaic cleaning robots 30. The base station of the photovoltaic cleaning robot initiates communication with the main server 20 to, for example, modify the delivery route. The base station of the photovoltaic cleaning robot may initiate communication on the dispatch robot 10 in any of the ways described above using any type of technology. Of course, an operator at the base station of the photovoltaic cleaning robot may use the communication device to initiate communication with the main server 20.

Upon detecting a request from the photovoltaic cleaning robot base station, the controller 101 of the dispatch robot 10 may send a request to the main server 20 to initiate communication between the main server 20 and the photovoltaic cleaning robot base station.

The main server 20 may remotely operatively control the dispatch robot 10 to travel to a location for unloading the photovoltaic cleaning robot using the modified delivery route. Dispatch robot 10 unloads the location proximate to the photovoltaic panel, and dispatch robot 10 may detect the proximate photovoltaic panel using, for example, object recognition techniques or any of the techniques described above. In this case, however, the controller 101 of the dispatch robot 10 may not send a request to the main server 20 to initiate communication. Instead, the controller 101 opens a storage compartment storing, for example, the photovoltaic cleaning robot 30 to allow the photovoltaic cleaning robot 30 to log on to the surface of the photovoltaic panel.

In one embodiment, the photovoltaic cleaning robot 30 determines that additional assistance is required. The photovoltaic cleaning robot 30 may communicate with the main server 20 using, for example, a communication device of the dispatch robot 10 in the vicinity. The photovoltaic cleaning robot 30 may also use an own communication device to initiate communication with the main server 20. In addition, the main server 20 communicates with any communication means using, for example, a signal receiver on a photovoltaic panel as an external signal receiving source to solve the problem.

As can be appreciated from the foregoing, the photovoltaic farm communication system 100 can initiate communication between the host server 20 and the dispatch robot 10 to address problems that may arise in many different situations. For example, the communication may be for dispatch robot 10 at a construction zone, where dispatch robot 10 needs to move or bypass as instructed by the constructor. This communication can be used in the handling process of the photovoltaic cleaning robot, to schedule the robot 10 to travel to the photovoltaic cleaning robot base station to load the photovoltaic cleaning robot or to schedule the robot 10 to travel to the photovoltaic panel to unload the photovoltaic cleaning robot. When the dispatch robot 10 encounters an equipment emergency, communications may be used to operate the dispatch robot 10 to pull to a safe location on the runway side to facilitate entry of emergency services and to interface with the operation and maintenance robot or operator. Further, the communication may be used to communicate with the dispatch robot 10, which dispatch robot 10 may need to stay on the photovoltaic cleaning robot base station or photovoltaic panel for a longer time to wait for arrival from another lagging photovoltaic cleaning robot. In addition, this communication may be used to schedule the robot 10 to have difficulty in proper operation, for which an operator is required to diagnose the problem and determine whether the scheduling robot 10 should continue to be used or be towed for maintenance by the maintenance robot. In each of these cases, the remotely located master server 20 may monitor sensed conditions associated with the dispatch robot 10 and exercise some control over the dispatch robot 10.

The design and application of the photovoltaic cleaning system set forth in this disclosure is not limited to the above-described functions and features, for example, the photovoltaic cleaning system may be equipped with more advanced sensors and control systems to improve its adaptation and processing capabilities in complex environments. In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the present application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

It will be appreciated by those skilled in the art that the above-described embodiments are merely for clarity of illustration of the disclosure, and are not intended to limit the scope of the disclosure. Other variations or modifications will be apparent to persons skilled in the art from the foregoing disclosure, and such variations or modifications are intended to be within the scope of the present disclosure.

Claims (10)

1. A photovoltaic farm dispatch robot, comprising:

a driving device configured to drive the dispatch robot to travel within a lane of a photovoltaic power generation field;

a loading device configured for loading or unloading the photovoltaic cleaning robot within the photovoltaic power farm;

a sensor configured to sense a state of the dispatch robot;

the transceiver is used for transmitting the perceived state of the dispatching robot to a main server of a photovoltaic power generation field and/or a photovoltaic cleaning robot;

a controller configured to initiate communication related to the dispatch robot between the main server and the photovoltaic cleaning robot in response to sensing of a state of the dispatch robot, the sensor of the dispatch robot detecting the photovoltaic cleaning robot before communication is initiated; and is configured to remotely control the scheduling robot in response to a command based on the perceived state of the scheduling robot and the communication between the main server and the photovoltaic cleaning robot.

2. The photovoltaic farm dispatch robot of claim 1, further comprising an interface configured to receive an input to initiate communication by the controller.

3. The photovoltaic farm dispatch robot of claim 1, wherein the controller is configured to be controllably operable by the photovoltaic cleaning robot.

4. The photovoltaic farm dispatch robot of claim 1, wherein the sensor comprises a travel state sensor located inside the dispatch robot configured to sense a travel state of the dispatch robot.

5. The photovoltaic farm dispatch robot of claim 4, wherein the exercise state comprises an autopilot state and a manual manipulation state.

6. The photovoltaic farm dispatch robot of claim 1, wherein the sensor comprises an environmental sensor external to the dispatch robot configured to sense an external environment in which the dispatch robot is located.

7. The photovoltaic farm dispatch robot of claim 1, wherein the sensor comprises a position sensor configured to receive position information of other entities external to the dispatch robot.

8. The photovoltaic farm dispatch robot of claim 7, wherein the other entities comprise at least one of a photovoltaic cleaning robot, a photovoltaic panel, an operator, and other dispatch robots.

9. The photovoltaic farm dispatch robot of claim 7, wherein the external location information includes a photovoltaic cleaning robot base station location and a photovoltaic cleaning robot handling location on a photovoltaic panel.

10. The photovoltaic farm dispatch robot of claim 1, wherein the controller is further configured to maintain communication between the dispatch robot and the host server and photovoltaic cleaning robot simultaneously.